A “eye-in-body” integrated surgery robot system for stereotactic surgery
Name
11548_2019_2032_ReferencePDF.pdf
Size
1.41 MB
Format
Adobe PDF
Checksum (MD5)
5513f67744815b804746d4d2106d4d6c
Author(s)
Li, Liang
Wu, Julia
Ding, Hui
Wang, Guangzhi
Date Issued
July 17, 2019
Publisher
Springer International Publishing
Version
Author's final manuscript
Abstract
Abstract
Purpose
Current stereotactic surgical robots system relies on cumbersome operations such as calibration, tracking and registration to establish the accurate intraoperative coordinate transformation chain, which makes the system not easy to use. To overcome this problem, a novel stereotactic surgical robot system has been proposed and validated.
Methods
First, a hand–eye integrated scheme is proposed to avoid the intraoperative calibration between robot arm and motion tracking system. Second, a special reference-tool-based patient registration and tracking method is developed to avoid intraoperative registration. Third, a model-free visual servo method is used to reduce the accuracy requirement of hand–eye relationship and robot kinematic model. Finally, a prototype of the system is constructed and performance tests and a pedicle screw drilling experiment are performed.
Results
The results show that the proposed system has acceptable accuracy. The target positioning error in the plane was − 0.68 ± 0.52 mm and 0.06 ± 0.41 mm. The orientation error was 0.43 ± 0.25°. The pedicle screw drilling experiment shows that the system can complete accurate stereotactic surgery.
Conclusions
The stereotactic surgical robot system described in this paper can perform stereotactic surgery without the intraoperative hand–eye calibration and nor manual registration and can achieve an acceptable position and orientation accuracy while tolerating the errors in the hand–eye coordinate transformation error and the robot kinematics model error.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1007/s11548-019-02032-x
